design and realization of piezoelectric mobiles for cooperative use
TRANSCRIPT
Design and realization of piezoelectric mobiles for cooperative
use (piezoelectric mini-robots)
Dr. Hassan HaririPr. Yves Bernard & Pr. Adel RazekGeePs: Génie électrique et électronique de Parishttp://www.geeps.centralesupelec.fr/
Email: [email protected]
Copyright Hassan Hariri 2016
Introduction Inspired by the stingray fish, we think that
a locomotion in various environments (soil, air, liquid) using piezoelectric patches bonded on a thin structure is possible.
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Copyright Hassan Hariri 2016
Introduction A schematic of thin structure with
piezoelectric patches
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Copyright Hassan Hariri 2016
A two dimensions modeling of non-collocated piezoelectric
patches bonded on thin structure
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Copyright Hassan Hariri 2016
Under the assumption of linear elastic materials and plane stress formulation, we can write
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A two dimensions modeling of non-collocated piezoelectric
patches bonded on thin structure
Copyright Hassan Hariri 2016
Under the assumption of linear elastic materials and plane stress formulation, we can write
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A two dimensions modeling of non-collocated piezoelectric
patches bonded on thin structure
Copyright Hassan Hariri 2016
Applying Hamilton principle, we obtain the variational equation that represents the mechanical and piezoelectric system
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A two dimensions modeling of non-collocated piezoelectric
patches bonded on thin structure
Copyright Hassan Hariri 2016
Numerically integrating the variational equation over the entire volume of the system and taking the boundary conditions into account in the assembly of matrices, the numerical equation is then written taking into account the damping matrix as follows
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A two dimensions modeling of non-collocated piezoelectric
patches bonded on thin structure
Copyright Hassan Hariri 2016
A Traveling Wave Piezoelectric Beam Robot
Geometric parameters, coordinate system, and description of the neutral axis
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Copyright Hassan Hariri 201610
A Traveling Wave Piezoelectric Beam Robot
vibrator–absorber:1ME
vibrator–vibrator:2ME
Copyright Hassan Hariri 2016
A Traveling Wave Piezoelectric Plate Robot
Still under publication
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Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
The present invention relates to a piezoelectric device (1) comprising: a flexible plate (2), at least three unaligned piezoelectric transducers (3) attached onto a single surface of the plate (2), and a sinusoidal voltage generator (4) that generates sinusoidal voltage and is connected to at least one piezoelectric transducer (3) such as to generate a traveling wave in the flexible plate (2). The piezoelectric device (1) is characterized in that the flexible plate (2) supporting the at least three piezoelectric transducers (3) is mobile, the generated traveling wave being capable of moving the flexible plate (2)
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Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
Different configurations
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3
3
3
3 2
1
44 4
4
0
+λ/4
2
33
0
3
1
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
Two Modes Excitation method (2ME)
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0 +λ/4
0 +λ/4
23
3 33
x
y
11 2
34
10 +λ/4
-λ/4 +λ/4
23
3 332
34
x
y
0 +λ/4
0 -λ/4
23
3 331 2
34
x
y
Copyright Hassan Hariri 2016
Mobile Piezoelectric Device (patent)
One Mode Excitation method (1ME)
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2
3
3
3
34
4
551
51
52
521 2
34
2
3
3
3
3 4
4 51
52
52
51 1 2
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Copyright Hassan Hariri 2016
References [1] http://animals.desktopnexus.com/wallpaper/209676/ [2] http://picinpic.blogspot.fr/2011/07/manta-ray-fish.html [3] H. Hariri, Y. Bernard, A. Razek, ‘’A two dimensions modeling of
non-collocated piezoelectric patches bonded on thin structure’’, Journal of curved and layered structures, 2015.
[4] H. Hariri, Y. Bernard, A. Razek, ‘’ Finite element model of a beam structure with piezoelectric patches using RL shunt circuits’’, Proceedings of Adaptronic congress 2011, pp. 124-131.
[5] H. Hariri, Y. Bernard, A. Razek, ‘’Travelling wave piezoelectric beam robot’’, Journal of smart materials and structures, 2013, pp. 1-9.
[6] H. Hariri, Y. Bernard, A. Razek, ‘’Dual piezoelectric beam robot: The effect of piezoelectric patches’ positions’’, Journal of Intelligent Material Systems and Structures, 2015.
[7] Yves Bernard, Hassan Hariri, Adel Razek. Mobile piezoelectric device. Patent n° : WO 2015/059283. 2015. http://www.google.com/patents/WO2015059283A1?cl=en
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